ardupilot/libraries/AP_HAL_FLYMAPLE/Scheduler.h

68 lines
2.0 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Flymaple port by Mike McCauley
*/
#pragma once
#include "AP_HAL_FLYMAPLE.h"
#define FLYMAPLE_SCHEDULER_MAX_TIMER_PROCS 4
class AP_HAL_FLYMAPLE_NS::FLYMAPLEScheduler : public AP_HAL::Scheduler {
public:
FLYMAPLEScheduler();
void init();
void delay(uint16_t ms);
void delay_microseconds(uint16_t us);
void register_delay_callback(AP_HAL::Proc,
uint16_t min_time_ms);
void register_timer_process(AP_HAL::MemberProc);
void register_io_process(AP_HAL::MemberProc);
void suspend_timer_procs();
void resume_timer_procs();
bool in_timerprocess();
void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
void system_initialized();
void reboot(bool hold_in_bootloader);
private:
static volatile bool _in_timer_proc;
AP_HAL::Proc _delay_cb;
uint16_t _min_delay_cb_ms;
bool _initialized;
/* _timer_procs_timer_event() and _run_timer_procs are static so they can be
* called from an interrupt. */
static void _timer_procs_timer_event();
static void _run_timer_procs(bool called_from_isr);
static void _failsafe_timer_event();
static AP_HAL::Proc _failsafe;
static volatile bool _timer_suspended;
static volatile bool _timer_event_missed;
static AP_HAL::MemberProc _timer_proc[FLYMAPLE_SCHEDULER_MAX_TIMER_PROCS];
static uint8_t _num_timer_procs;
};